AXIS#.TUNING.INERTIA.MEASURE
Description
AXIS#.TUNING.INERTIA.MEASURE starts the Inertia Measurement algorithm. The only requirement for this feature is that the amplifier is enabled; an error will be returned if the process is started while disabled.
Once started, a short excitation will be sent to the motor and behavior monitored for ~2 seconds. After that, the data will be processed and the inertia calculated. The calculated inertia will be stored in the keyword AXIS#.LOAD.INERTIA.
If the Inertia Measurement algorithm calculates an inertia that exceeds this inertia mismatch max, the inertia will be limited to the MISMATCHMAX multiplied by AXIS#.MOTOR.INERTIA.
If the Inertia Measurement algorithm is limited by AXIS#.TUNING.INERTIA.MISMATCHMAX, its state will indicate it completed successfully but was clamped.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-13-01-000 |
- |
General Information
| Type |
Action Command |
| Units | N/A |
| Range | N/A |
| Default Value | N/A |
| Data Type | N/A |
| See Also | AXIS#.LOAD.INERTIA |
| Stored in Non-Volatile Memory | No |
Variants Supported
All variants are supported.
Industrial Ethernet Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.TUNING.INERTIA.MEASURE |
5021h |
03h |
Unsigned32 |
- |
- |
Write only |
No |
|
AXIS2.TUNING.INERTIA.MEASURE |
5121h |
03h |
Unsigned32 |
- |
- |
Write only |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5044 |
1 |
5044 (0x13b4) |
AXIS1.TUNING.INERTIA.MEASURE |
Unsigned8 |
Read/Write |
No |
|
70580 |
2 |
5044 (0x13b4) |
AXIS2.TUNING.INERTIA.MEASURE |
Unsigned8 |
Read/Write |
No |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.TUNING.INERTIA.MEASURE |
5044 |
Unsigned8 |
Read/Write |
- |
